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observation.state
list
action
list
observation.images.topview
imagewidth (px)
224
224
observation.images.gripperPOV
imagewidth (px)
224
224
observation.images.behindGripper
imagewidth (px)
224
224
timestamp
float32
0
4.75
frame_index
int64
0
95
episode_index
int64
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99
index
int64
0
9.08k
task_index
int64
0
0
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2.05
41
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2.1
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2.15
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2.2
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2.25
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2.3
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2.35
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2.4
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
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2.85
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2.9
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2.95
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3
60
0
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
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3.4
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3.45
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3.5
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3.55
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3.6
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3.65
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3.7
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3.75
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3.8
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3.85
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3.9
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3.95
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4
80
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80
0
[ 0.16339805722236633, 0.7980480790138245, 0.22709715366363525, 0.4896039366722107, 0.17698435485363007, 0.8022681474685669, 0.18038171529769897, 0.7019611597061157, 0.031573593616485596, -0.019994130358099937, 0.7112340331077576, 0, 0, 0, 0, 0, 0, 0, 0.16432344913482666, 0.79709...
[ 0.01645098626613617, 0.12417695671319962, -1.8709715604782104, 0.6000000238418579 ]
4.05
81
0
81
0
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[ 0.02469693124294281, 0.11538563668727875, -1.8004003763198853, 0.6000000238418579 ]
4.1
82
0
82
0
[ 0.16194379329681396, 0.7998382449150085, 0.2122648060321808, 0.48961111903190613, 0.1763901710510254, 0.8037603497505188, 0.16537974774837494, 0.7042996883392334, 0.029748959466814995, -0.017824504524469376, 0.7090551257133484, 0, 0, 0, 0, 0, 0, 0, 0.1625734567642212, 0.7989271...
[ 0.030993590131402016, 0.10627538710832596, -1.722648024559021, 0.6000000238418579 ]
4.15
83
0
83
0
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[ 0.03494076058268547, 0.09642397612333298, -1.6401032209396362, 0.6000000238418579 ]
4.2
84
0
84
0
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[ 0.03658148646354675, 0.08592138439416885, -1.5544402599334717, 0.6000000238418579 ]
4.25
85
0
85
0
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[ 0.03625739365816116, 0.07517296820878983, -1.466755986213684, 0.6000000238418579 ]
4.3
86
0
86
0
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[ 0.03447047248482704, 0.06470084935426712, -1.3777450323104858, 0.6000000238418579 ]
4.35
87
0
87
0
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[ 0.031769510358572006, 0.05500755086541176, -1.2878530025482178, 0.6000000238418579 ]
4.4
88
0
88
0
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[ 0.028653593733906746, 0.04654069244861603, -1.1973775625228882, 0.6000000238418579 ]
4.45
89
0
89
0
[ 0.16248945891857147, 0.8065055012702942, 0.15065553784370422, 0.48963993787765503, 0.1788664162158966, 0.8098374009132385, 0.10343922674655914, 0.7059973478317261, 0.02798660472035408, -0.02179582603275776, 0.7073255181312561, 0, 0, 0, 0, 0, 0, 0, 0.16217778623104095, 0.8058117...
[ 0.025536952540278435, 0.039602313190698624, -1.1065553426742554, 0.6000000238418579 ]
4.5
90
0
90
0
[ 0.004584200214594603, 0.601388156414032, 0.195143461227417, 1, 0.12999999523162842, 0.6000000238418579, 0.019945474341511726, 0.7071067690849304, 0.00013643776765093207, 0.00016013822460081428, 0.7071067690849304, 0, 0, 0, 0, 0, 0, 0, 0.004584200214594603, 0.601388156414032, ...
[ 1.0541578531265259, -0.013881375081837177, -0.7519798278808594, 0 ]
0
0
1
91
0
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[ 1.0459799766540527, -0.0056569334119558334, -0.752224862575531, 0 ]
0.05
1
1
92
0
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[ 1.0237003564834595, 0.007499312050640583, -0.739856481552124, 0 ]
0.1
2
1
93
0
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[ 0.9851736426353455, 0.02220640890300274, -0.7052555084228516, 0 ]
0.15
3
1
94
0
[ 0.016862059012055397, 0.5965331196784973, 0.18451052904129028, 1, 0.13000094890594482, 0.5999999642372131, 0.018549300730228424, 0.7071067690849304, 0.00015530321979895234, 0.0001771970564732328, 0.7071067690849304, 0, 0, 0, 0, 0, 0, 0, 0.01148397196084261, 0.5977792739868164, ...
[ 0.9313888549804688, 0.03466830775141716, -0.6596122980117798, 0 ]
0.2
4
1
95
0
[ 0.023481223732233047, 0.5957834124565125, 0.17942042648792267, 1, 0.1300005316734314, 0.5999999642372131, 0.0187090914696455, 0.7071067690849304, 0.00014706964429933578, 0.00016965088434517384, 0.7071067690849304, 0, 0, 0, 0, 0, 0, 0, 0.016862059012055397, 0.5965331196784973, ...
[ 0.8651930093765259, 0.04216567054390907, -0.6071133613586426, 0 ]
0.25
5
1
96
0
[ 0.030971616506576538, 0.595653772354126, 0.17385481297969818, 0.9998810887336731, 0.1300002485513687, 0.5999999642372131, 0.01880737580358982, 0.7071067690849304, 0.00014169176574796438, 0.00016473392315674573, 0.7071067690849304, 0, 0, 0, 0, 0, 0, 0, 0.023481223732233047, 0.59...
[ 0.7902863025665283, 0.04346233606338501, -0.5504744052886963, 0 ]
0.3
6
1
97
0
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[ 0.710476815700531, 0.03864645957946777, -0.4919208884239197, 0 ]
0.35
7
1
98
0
[ 0.046576011925935745, 0.5971317291259766, 0.16235442459583282, 0.9990927577018738, 0.1300000250339508, 0.6000000238418579, 0.018898537382483482, 0.7071067690849304, 0.00013731214858125895, 0.00016079438501037657, 0.7071067690849304, 0, 0, 0, 0, 0, 0, 0, 0.03895241767168045, 0.5...
[ 0.6342401504516602, 0.028682800009846687, -0.43455880880355835, 0 ]
0.4
8
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "sawyer",
    "total_episodes": 100,
    "total_frames": 9076,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
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                "state_20",
                "state_21",
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                "state_23",
                "state_24",
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        "frame_index": {
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        }
    }
}

Citation

BibTeX:

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